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(11) | EP 1 699 600 B1 |
| (12) | EUROPEAN PATENT SPECIFICATION |
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| (54) |
METHOD FOR GOVERNING THE OPERATION OF A PNEUMATIC IMPULSE WRENCH AND A POWER SCREW JOINT TIGHTENING TOOL SYSTEM VERFAHREN ZUR REGELUNG DES BETRIEBS EINES PNEUMATISCH ANGETRIEBENEN IMPULSDREHMOMENTSCHLÜSSELS UND KRAFTBETRIEBENES SCHRAUBVERBINDUNGSFESTZIEHWERKZEUGSYSTEM PROCEDE POUR COMMANDER LE FONCTIONNEMENT D'UNE CLE A IMPULSION PNEUMATIQUE ET SYSTEME D'OUTIL ELECTRIQUE DE SERRAGE DE JOINTS A VIS |
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| Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention). |
[0001] The invention relates to a method and a power tool system for screw joint tightening, where the power tool system comprises a pneumatic impulse wrench, and a programmable control unit is arranged to control the operation of the impulse wrench according to a predetermined tightening strategy and in response to instantaneous values of one or more tightening parameters by regulating during tightening the pressure air supply to the impulse wrench.
[0002] A problem concerned with pneumatically powered impulse wrenches is the difficulty to govern the tightening process accurately enough to ensure a correct and reliable pretensioning result. In a previously known impulse wrench system, described in U.S. Patent No. 5,366,026, the output shaft of an impulse wrench is provided with a torque transducer for detecting the torque magnitudes of the delivered torque impulses, and a control unit for calculating a torque based clamping force and for initiating power shut-off as a certain co-efficient representing an increasing clamping force has reached a certain value. There is also described a way to more safely arrive at the desired final clamping force by reducing the motive pressure air supply to the impulse wrench as the difference between a desired final clamping force and the actual calculated clamping force is smaller than a predetermined value.
[0003] This known tightening system has two weak points from the reliability point of view, namely that the actual instantaneous tightening parameter values, like the torque magnitude, are obtained from an easily disturbed torque transducer including a magnetostrictive output shaft portion and electric coils mounted in the impulse wrench housing. This arrangement is not only sensitive to external disturbances resulting in a less reliable torque magnitude detection but it is rather space demanding and adds in a negative way to the outer dimensions of the impulse wrench. The magnetostrictive output shaft comprises a number of slots which weaken the shaft and call for an enlarged output shaft diameter.
[0004] Although this prior art patent describes a process control where the output torque of the impulse wrench is reduced as the clamping force magnitude approaches the target value, there is still a problem involved when tightening so called hard joints, i.e. joints having a steep torque growth characteristic. This is due to the fact that the very first impulse delivered by the impulse wrench could turn out to be powerful enough to cause a torque overshoot, i.e. reaching a.torque magnitude that is higher than the desired final torque level. There is nothing described in this document about how to deal with this problem.
[0005] In WO 02/083366 there is described a technique for determining the installed torque based on signals delivered by an angle sensing means mounted on the inertia drive member of the impulse unit. This technique means that the delivered torque is calculated from the angular movements per time unit of the impulse unit, and that no torque sensing means on the output shaft is required. However, there is nothing described about how to control a screw joint tightening process by changing the output of the impulse wrench during the tightening process, for instance how to avoid over-tightening at the very first delivered torque impulse at hard joints.
[0006] In US 6,668,212 there is described a method for tightening screw joints by means of a pneumatic torque delivering tool wherein the accuracy of the tightening results is improved by using calibration factors for power tool temperature, power tool age etc. and by varying the air inlet pressure to the power tool. This method is based on pre-production calibration procedures where the calibration factors for the actual screw joint and the different air pressure levels to be used during tightening are determined. Since this previous method does not use a power tool provided with torque sensing means the output torque of the tool has to be correlated to corresponding air pressure levels which are listed in a table, and when applying the power tool on a screw joint of a certain size the list tells the operator what air pressure levels should be used to safely achieve a desired final torque in the screw joint. Accordingly, this known method is not universally applicable on different screw joints but require a pre-production calibration procedure on the actual screw joint. This is disadvantageous in that it is complicated and time consuming.
[0007] It is the object of the invention to provide a method for governing a screw joint tightening process performed by a pneumatic impulse wrench does not require any pre-tightening calibration procedures and which is controlled in such a way that overtightening of the screw joint is safely avoided under all conditions, and a power tool system for performing the method and including a pneumatic impulse wrench which combines a simple and compact design with a reliable parameter magnitude sensing and ascertaining.
[0008] A preferred embodiment of the invention is described below with reference to the accompanying drawing.
[0009] In the drawing
Fig. 1 illustrates a power tool system according to the invention.
Fig. 2 shows an enlarged fractional view of the impulse wrench shown in Fig. 1 and illustrates the angular movement sensing device.
[0010] The power tool system illustrated in Fig. 1 comprises a pneumatic impulse wrench 10 including a motor 11 with a rotor 12, an impulse unit 13 including an inertia drive member 14 connected to the motor rotor 12, and an output shaft 15. The impulse wrench 10 further comprises an angular movement detecting device 16 which includes a disc 17 with a magnetised rim portion 18. The disc 17 is rigidly affixed to and co-rotating with the inertia drive member 14, and a stationary sensing device 19 located approximately to the magnetised rim portion 18 of the disc 17. The rim portion 18 is magnetised to provide a number of magnetic poles equally distributed along its periphery, and the sensing device 19 comprises sensor elements 120 carried on a connection board 20 and activated by the magnetic poles of the rim portion 18 to deliver electric signals in response to the movement of the disc 17. The connector board 20 is coupled to a circuit board 21 which carries a number of electronic components (not shown) for treating the signals delivered by the sensor elements 120 and sending secondary signals to a stationary programmable control unit 22 via a multi-core cable 24. Pressure air is supplied to the impulse wrench via a hose 25 and a flow regulating valve 26 which communicates with a pressure air source and which is connected to the control unit 22 for receiving operating signals. The flow regulating valve 26 is of the type that is able to adjust the air flow magnitude successively in the range between zero and full power flow as determined by the signals delivered by the control unit 22.
[0011] The signals delivered by the movement detecting device 16 correspond to the rotational movement of the drive member 14 and are used for calculating not only the speed and retardation of the drive member 14 but also the installed torque, because with the knowledge of the total inertia of the rotating parts, i.e. the drive member 14 and the connected motor rotor 12, the energy and hence the installed torque magnitude of each delivered torque impulse may be calculated. This method of torque calculation is previously described per se in the above mentioned WO 02/083366.
[0012] In addition to the above described method of calculating and determining the delivered torque and lapsed rotation angle during each torque impulse it is also possible to calculate the torque rate of the screw joint, i.e. the torque growth per angle increment. This is accomplished during a first couple of impulses delivered to the screw joint, and when the torque rate is calculated an determined it is possible to adapt the continued impulse application to the screw joint in a very accurate way, without having to rely on pre-tightening calibration procedures on the actual screw joint.
[0013] This means that the method according to the invention is universally applicable on all screw joints within a certain size range. By this new method occurring deviations in torque rate between different screw joints are automatically compensated for, and occurring screw joint faults like misalignments, cross threading, ripped-off threads etc. are immediately detected as abnormal torque growth characteristics.
[0014] In contrast to previously described methods for accomplishing a screw joint tightening control at pneumatically driven impulse tools the invention makes it possible to control the tightening process via the inlet air pressure and without having to perform any pre-production rest runs to calibrate the torque output of the actual power tool in relation to the supplied air pressure and other factors like temperature, power tool age etc. According to the invention the output torque as well as the torque growth are determined momentarily during tightening process, and the inlet air pressure is immediately adapted to the actual joint conditions such that a desired tightening result is ensured, no matter the characteristics of the actual screw joint. The power tool just has to be programmed with the desired target torque level and a chosen strategy for varying the inlet air pressure during the tightening process in response to the set target torque level and the calculated torque growth. No pre-production test runs on the actual screw joint have to be performed for calculation purposes.
[0015] Based on this previously described torque determination method the operation of the impulse wrench is governed by controlling the pressure air supply to the impulse wrench motor via the flow regulating valve 26. According to the invention the pressure air supply is controlled such that a reduced motor power and speed is obtained before and during the very first one or two delivered torque impulse or impulses, where a torque growth calculation is performed. Thereafter a full power air pressure is supplied to the impulse wrench motor. When reaching a certain torque magnitude which preerably is a certain percentage of the set target torque level, for instance 80% of the target torque level, the air flow regulating valve 26 is instructed by the control unit 22 to reduce the air supply flow and hence the motive air pressure to a certain level or a predetermined percentage of the full power flow, for instance 80% of the full power flow, to thereby reduce the rotation speed of the power tool 10 towards the end of the tightening process and minimise the risk of overtightening the screw joint due to the influence of inertia related dynamic forces. As the set target torque level is reached the flow regulating valve 26 is instructed to further reduce the air supply flow so as to interrupt the tightening process either by stopping the impulse wrench or by maintaining the installed torque magnitude via a continued impulse delivery at a further decreased air pressure and reduced torque magnitude in each impulse.
• starting a screw joint tightening process at a reduced power supply to the impulse wrench,
• ascertaining the angular displacement and retardation magnitude of the inertia drive member during each delivered impulse,
• calculating the instantaneous torque magnitude and torque growth during a number of delivered impulses,
• increasing after the very first delivered impulse the power supply to the impulse wrench in response to the calculated torque growth,
• reducing the power supply to the impulse wrench in response to the instantaneous torque magnitude and to the calculated torque growth during each impulse after the instantaneous torque magnitude has reached a predetermined part of the desired target torque level, and
• interrupting the power supply to the impulse wrench as the target torque level has been reached.
characterized in that
• an angle sensing means (16) is connected to said inertia drive member (14) for detecting the angular movement of said inertia drive member (14) during each delivered torque impulse,
• said pressure air supply means (26) comprises a pressure air flow regulating valve (26) successively adjustable between zero and full pressure air flow, and arranged to supply the impulse wrench with a reduced pressure air flow until the very first impulse is delivered to the screw joint being worked,
• said control unit is connected to the angle sensing means and arranged to receive signals to determine the angular displacement and retardation magnitude of the inertia drive member during each delivered impulse, and to calculate the delivered torque as well as the torque growth per angle increment during each impulse, wherein
• said regulating valve (26) is connected to the control unit (22) and arranged to increase the pressure air flow to the power wrench after the very first torque impulse has been delivered by the control unit (22), such that the pressure air flow to the impulse wrench is reduced as the instantaneous torque magnitude has reached a predetermined part of the target torque level, and the pressure air supply to the power wrench is interrupted as the target torque level has been reached.
• Starten eines Schraubverbindungsfestziehvorgangs bei verminderter Stromversorgung zum Impulsdrehmomentschlüssel,
• Ermitteln der Winkelverschiebung und Verzögerungsgröße des Schraubtriebelements während jedes abgegebenen Impulses,
• Berechnen der Momentandrehmomentgröße und des Drehmomentwachstums während einer Anzahl abgegebener Impulse,
• Erhöhen, nach dem aller ersten abgegebenen Impuls, der Stromversorgung an den Impulsdrehmomentschlüssel als Reaktion auf das berechnete Drehmomentwachstum,
• Vermindern der Stromversorgung an den Impulsdrehmomentschlüssel als Reaktion auf die Momentandrehmomentgröße und auf das berechnete Drehmomentwachstum während jedes Impulses, nachdem die Momentandrehmomentgröße einen vorbestimmten Teil des gewünschten Zieldrehmoments erreicht hat, und
• Unterbrechen der Stromversorgung an den Impulsdrehmomentschlüssel, wenn das Zieldrehmoment erreicht worden ist.
dadurch gekennzeichnet, dass
• ein Winkelerfassungsmittel (16) an das Schraubtriebelement (14) zum Erkennen der Winkelbewegung des Schraubtriebelements (14) während jedes abgegebenen Drehmomentimpulses angeschlossen ist,
• das Druckluft-Versorgungsmittel (26) ein Druckluft-Regelventil (26) umfasst, das sukzessiv zwischen null und dem vollen Druckluftstrom einstellbar ist, und angeordnet ist, den Impulsdrehmomentschlüssel mit einem verminderten Druckluftstrom zu versorgen, bis der aller erste Impuls an die gerade bearbeitete Schraubverbindung abgegeben worden ist,
• die Steuereinheit an das Winkelerfassungsmittel angeschlossen und angeordnet ist, Signale zu empfangen, um die Winkelverschiebung und Verzögerungsgröße des Schraubtriebelements während jedes abgegebenen Impulses zu bestimmen, und das abgegebene Drehmoment sowie das Drehmomentwachstum pro Winkelinkrement während jedes Impulses zu berechnen, wobei
• das Regelventil (26) an die Steuereinheit (22) angeschlossen und angeordnet ist, den Druckluftstrom an den kraftbetriebenen Drehmomentschlüssel zu erhöhen, nachdem der aller erste Drehmomentimpuls von der Steuereinheit (22) abgegeben worden ist, so dass der Druckluftstrom zum Impulsdrehmomentschlüssel vermindert wird, wenn die Momentandrehmomentgröße einen vorbestimmten Teil des Zieldrehmoments erreicht hat, und die Druckluftversorgung an den kraftbetriebenen Drehmomentschlüssel unterbrochen wird, wenn das Zieldrehmoment erreicht worden ist.
• démarrer un processus de serrage de joint à vis avec une alimentation en énergie réduite de la clé à impulsion,
• vérifier le déplacement angulaire et la grandeur de ralentissement de l'organe d'entraînement à inertie pendant chaque impulsion délivrée,
• calculer la grandeur de couple instantanée et la croissance du couple pendant un nombre d'impulsions délivrées,
• augmenter, après la toute première impulsion délivrée, l'alimentation en énergie de la clé à impulsion en réaction à la croissance du couple calculée,
• réduire l'alimentation en énergie de la clé à impulsion en réaction à la grandeur de couple instantanée et à la croissance du couple calculée pendant chaque impulsion après que la grandeur de couple instantanée a atteint une partie prédéterminée du niveau de couple cible souhaité, et
• interrompre l'alimentation en énergie de la clé à impulsion lorsque le niveau de couple cible a été atteint.
caractérisé en ce que
• un moyen de détection d'angle (16) est connecté audit organe d'entraînement à inertie (14) pour détecter le mouvement angulaire dudit organe d'entraînement à inertie (14) pendant chaque impulsion de couple délivrée,
• ledit moyen d'alimentation en air comprimé (26) comprend une soupape de réglage d'écoulement d'air comprimé (26) pouvant être ajustée successivement entre un écoulement d'air comprimé nul et un à fond, et agencée pour fournir un écoulement d'air comprimé réduit à la clé à impulsion jusqu'à ce que la toute première impulsion soit délivrée au joint à vis sur lequel on travaille,
• ladite unité de commande est connectée au moyen de détection d'angle et agencée pour recevoir des signaux pour déterminer le déplacement angulaire et la grandeur de ralentissement de l'organe d'entraînement à inertie pendant chaque impulsion délivrée, et pour calculer le couple délivré ainsi que la croissance du couple par incrément d'angle pendant chaque impulsion, dans lequel
• ladite soupape de réglage (26) est connectée à l'unité de commande (22) et agencée pour augmenter l'écoulement d'air comprimé vers la clé électrique après que la toute première impulsion de couple a été délivrée par l'unité de commande (22), de sorte que l'écoulement d'air comprimé vers la clé à impulsion est réduit lorsque la grandeur de couple instantanée a atteint une partie prédéterminée du niveau de couple cible, et l'alimentation en air comprimé de la clé électrique est interrompue lorsque le niveau de couple cible a été atteint.
REFERENCES CITED IN THE DESCRIPTION
This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.
Patent documents cited in the description